Multi-layer Architecture for Trajectory Replanning and Intelligent plan eXecution (MATRIX)

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$499,915.00
Award Year:
2004
Program:
STTR
Phase:
Phase II
Contract:
NNA04AA63C
Award Id:
61607
Agency Tracking Number:
020027
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
500 West Cummings Park, Suite 3000, Woburn, MA, 01801
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
859244204
Principal Investigator:
JovanBoskovic
Principal Investigator
(781) 933-5355
rkm@ssci.com
Business Contact:
RobertSimpson
Business Official
(781) 933-5355
rsimpson@ssci.com
Research Institute:
University of California
Karl Hedrick
336 Sproul Hall #5940
Berkeley, CA, 94720
(510) 642-2482
Nonprofit college or university
Abstract
Scientific Systems Co. Inc. and University of California at Berkeley propose to develop, test and implement a Multi-layer Architecture for Trajectory Replanning and Intelligent plan eXecution (MATRIX) system for fixed and rotary wing Unmanned Aerial Vehicle (UAV). The MATRIX system architecture will consist of several layers including the on-line path planning and trajectory generation layers, and vision-based obstacle detection and identification that provides the obstacle information nedded for path replanning. The architecture also includes the Failure Detection and Identification (FDI) system and Adaptive Reconfigurable Controller (ARC), along with a module for on-line calculation of Achievable Dynamic Performance (ADP) which determines the maximum performance that can be achieved post-failure with the available control authority. In order to develop, test and implement the MATRIX system, the following tasks will be carried out: (i) Develop obstacle avoidance algorithms and implement them using the RMax helicopter simulator under Matlab/Simulink. %the RIPTIDE tool; (ii) Develop vision-based obstacle detection algorithms and implement them under Matlab/Simulink; (iii) Integrate and test obstacle detection and obstacle avoidance algorithms under suitable simulation environment such as RIPTIDE and MultiUAV simulation tool; and (iv) Develop the MATRIX software tool and pursue its commercialization.

* information listed above is at the time of submission.

Agency Micro-sites


SBA logo

Department of Agriculture logo

Department of Commerce logo

Department of Defense logo

Department of Education logo

Department of Energy logo

Department of Health and Human Services logo

Department of Homeland Security logo

Department of Transportation logo

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government